A digital twin system and method for a feeding, debranching and cutting process of a harvesting device

Abstract

The application discloses a kind of digital twin systems and methods for the feeding, branch removal and cutting process of cutting device, belong to digital twin technical field.System includes physical entity perception layer, for collecting the parameter data of feeding mechanism, branch removal mechanism, cutting mechanism and work object in cutting device;Twin data layer is used to collect the running data of feeding mechanism, branch removal mechanism and cutting mechanism in cutting device, and time synchronization, filtering processing and work stage matching are carried out on running data, to obtain continuous work data set;Virtual model layer is used to construct virtual cutting device model;Connection interaction layer is used to update synchronously cutting device and virtual cutting device model;Service application layer is used to analyze feeding stability, branch removal resistance, cutting timing and mechanism safety state, to obtain the parameter optimization scheme of feeding, branch removal and cutting process.The application realizes work process visualization, state evaluation, parameter optimization and abnormal early warning.

Description

Technical Field

[0001] This invention belongs to the field of digital twin technology, specifically relating to a digital twin system and method for the feeding, pruning, and cutting processes of logging equipment. Background Technology

[0002] Mechanized logging is an important part of plantation tending operations. As the core execution equipment in combined logging machines, logging devices are usually used to complete tasks such as tree clamping, feeding, debranching and cutting. It is a continuous operation process with significant coupling relationship, which directly affects the efficiency and quality of operation.

[0003] While existing logging equipment can perform basic feeding, debranching, and cutting actions, it still has the following shortcomings in terms of intelligent operation: First, feeding is prone to instability due to slippery wood surfaces, bent trunks, insufficient clamping pressure, or sudden load changes. Second, debranching resistance varies depending on the tree species, number of branches, and wood diameter, making it difficult for fixed parameters to adapt to complex working conditions. Third, the cutting mechanism has a response time from receiving the control signal to completing the cut or shearing action; if this is not compensated for in advance based on the real-time feeding speed, the cutting action may be delayed. Fourth, existing control systems lack the ability to map the overall state of feeding, debranching, and cutting, as well as the ability to diagnose anomalies and optimize parameters, making it difficult to form a closed-loop optimization of the operation process. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a digital twin system and method for the feeding, pruning and cutting processes of logging equipment, which realizes the visualization of the operation process, status evaluation, parameter optimization and anomaly early warning through digital twin technology.

[0005] This invention provides the following technical solution:

[0006] A digital twin system for the feeding, debranching and trimming processes of a harvesting device includes: a physical entity perception layer for collecting parameter data of the feeding mechanism, debranching mechanism and trimming mechanism of the harvesting device and the work object;

[0007] The twin data layer is used to collect the operating data of the feeding mechanism, debranching mechanism and cutting mechanism in the harvesting device, and to perform time synchronization, filtering and operation stage matching on the operating data to obtain a continuous operation dataset.

[0008] The virtual model layer is used to construct a virtual harvesting device model based on the continuous operation dataset and parameter data of the feeding mechanism, debranching mechanism, cutting mechanism and operation object;

[0009] The connection interaction layer is used to synchronize and update the logging device and the virtual logging device model.

[0010] The service application layer is used to analyze feeding stability, branch removal resistance, cutting timing and mechanism safety status based on the synchronously updated virtual harvesting device model, and obtain parameter optimization schemes for the feeding, branch removal and cutting processes based on the analysis results.

[0011] As an optional technical solution of the present invention, the physical entity perception layer includes physical entity objects, which include a feeding mechanism, a debranching mechanism, a cutting mechanism, and a work object.

[0012] The parameters of the feeding mechanism include roller diameter, roller spacing, and roller clamping cylinder stroke;

[0013] The parameter data of the debranching mechanism includes the installation position of the debranching knife, the opening and closing range of the debranching knife, the stroke of the front knife cylinder, and the stroke of the rear knife cylinder;

[0014] The parameter data of the cutting mechanism includes the chainsaw installation position and the chainsaw cylinder stroke;

[0015] The parameter data of the work object includes the diameter of the wood, the curvature of the trunk, the number of branches, the diameter of the branches, and the distribution location of the branches.

[0016] As an optional technical solution of the present invention, the twin data layer collects the operating data of the feeding mechanism, the debranching mechanism and the cutting mechanism in the harvesting device through a first sensor group set on the feeding mechanism, a second sensor group set on the debranching mechanism and a third sensor group set on the cutting mechanism.

[0017] The first sensor group includes a roller rotation speed sensor, a feeding speed sensor, a roller clamping cylinder pressure sensor, and a feeding load sensor;

[0018] The second sensor group includes a pruning knife pressure sensor and a pruning knife displacement sensor;

[0019] The third sensor group includes a displacement sensor for the cut-off actuator and a pressure sensor for the cut-off actuator.

[0020] As an optional technical solution of the present invention, the connection interaction layer includes a data synchronization mechanism and a state mapping mechanism;

[0021] The data synchronization mechanism is used to synchronize data between the physical entity perception layer, the twin data layer, and the virtual model layer.

[0022] The state mapping mechanism is used to map the operating states of the feeding mechanism, the branching mechanism, and the cutting mechanism to the virtual harvesting device model.

[0023] As an optional technical solution of the present invention, the service application layer includes a three-dimensional visualization module, a work cycle analysis module, a work status evaluation module, and a parameter optimization module;

[0024] The three-dimensional visualization module is used to display the operation process of the logging device; the operation cycle analysis module is used to analyze the time consumption of each stage of feeding, pruning and cutting; the operation status evaluation module is used to analyze feeding stability, pruning resistance and cutting timing; and the parameter optimization module is used to generate parameter optimization schemes.

[0025] Secondly, a digital twin method for the feeding, debranching and pruning processes of a harvesting device is provided, including: collecting parameter data of the feeding mechanism, debranching mechanism and pruning mechanism of the harvesting device and the work object;

[0026] The operation data of the feeding mechanism, debranching mechanism and cutting mechanism in the harvesting device are collected, and the operation data is synchronized in time, filtered and matched with the operation stage to obtain a continuous operation dataset.

[0027] A virtual harvesting device model is constructed based on the continuous operation dataset and parameter data of the feeding mechanism, debranching mechanism, cutting mechanism and operation object.

[0028] The logging equipment and the virtual logging equipment model are updated synchronously.

[0029] Based on the synchronously updated virtual harvesting device model, the feeding stability, branch removal resistance, cutting timing, and mechanism safety status are analyzed. Based on the analysis results, parameter optimization schemes for the feeding, branch removal, and cutting processes are obtained.

[0030] As an optional technical solution of the present invention, the virtual logging device model includes a geometric model, a motion model, a state model, a work process behavior model, and an interaction model;

[0031] The geometric model is constructed based on the parameter data of the feeding mechanism, the debranching mechanism, the cutting mechanism, and the work object. The geometric model is used to describe the relative positions and range of motion of the feeding mechanism, the debranching mechanism, and the cutting mechanism in space.

[0032] A motion model is constructed based on the operating data of the feeding mechanism, the debranching mechanism, and the cutting mechanism. The motion model is used to characterize the motion change relationship of the feeding mechanism, the debranching mechanism, and the cutting mechanism during continuous operation.

[0033] A state model is constructed based on the operating data of the feeding mechanism, the debranching mechanism, and the cutting mechanism. The state model is used to characterize the operating state of the logging device during continuous operation. The operating state includes normal, fluctuating, abnormal, and safety interlock.

[0034] The operational process behavior model is used to describe the continuous operation process of the logging device from clamping the timber to completing a cut to length and preparing for the next feeding.

[0035] The interactive model is used to describe the clamping and feeding relationship between the roller and the wood, the cutting contact relationship between the debranching knife and the branch, and the cutting contact relationship between the cutting mechanism and the wood.

[0036] As an optional technical solution of the present invention, the analysis of feeding stability, branch removal resistance, and pruning timing includes:

[0037] The feed stability index is calculated and expressed as:

[0038] ;

[0039] ;

[0040] ;

[0041] ;

[0042] ;

[0043] Among them, I f This indicates the feed stability index. Indicates the change in feeding speed. This indicates the change in roller speed. This indicates the change in pressure of the roller clamping cylinder. This indicates the change in feed load. This indicates the baseline value for feeding speed. This indicates the reference value for the roller speed. This indicates the reference value of the roller clamping cylinder pressure. This indicates the baseline value for feed load. This represents the correction factor. , , , All represent weighting coefficients. Indicates the current sampling time. Indicates the sampling period, v f (t) represents the feeding rate at the current sampling time, n r (t) represents the roller speed at the current sampling time, P c (t) represents the roller clamping cylinder pressure at the current sampling moment, L f (t) represents the feed load at the current sampling time;

[0044] When the feeding stability index is less than the preset first stability threshold, the feeding status is determined to be normal; when the feeding stability index is not less than the first stability threshold and is less than the preset second stability threshold, the feeding status is determined to be fluctuating; when the feeding stability index is not less than the second stability threshold, the feeding status is determined to be abnormal.

[0045] The debranching resistance index is calculated as follows:

[0046] ;

[0047] ;

[0048] ;

[0049] ;

[0050] in, Indicates the resistance index for branch removal. This indicates the change in pressure applied by the debranching knife. This indicates the change in displacement of the debranching knife. Indicates the diameter of the wood. Indicates the number of branches per unit length. The reference value indicating the pressure of the debranching knife. The reference value representing the displacement of the debranching tool. A reference value indicating the diameter of timber. A baseline value representing the number of branches per unit length. This indicates the pressure of the pruning shear at the current sampling moment. This represents the displacement of the pruning cutter at the current sampling time. This indicates the number of branches within the statistical interval. Indicates the length of the statistical interval. , , , , , All represent weighting coefficients, b1+b2+b3+b4+b5+b6=1;

[0051] When the pruning resistance index is less than the preset first resistance threshold, the pruning state is determined to be normal; when the pruning resistance index is not less than the first resistance threshold and is less than the preset second resistance threshold, the pruning resistance is determined to be increased; when the pruning resistance index is not less than the second resistance threshold, the pruning state is determined to be abnormal.

[0052] The cutoff advance distance is calculated and expressed as:

[0053] ;

[0054] in, Indicates the cutoff advance distance at the current sampling time. Indicates the current axial feed rate. This indicates the response time required for the truncation mechanism to reach an effective truncation state from receiving the truncation control signal. Indicates the distance for mechanical motion compensation;

[0055] The remaining distance from the target cutoff position is calculated and expressed as:

[0056] ;

[0057] in, This indicates the remaining distance from the target cutoff position at the current sampling time. Indicates the target truncation length. This indicates the cumulative feeding distance at the current sampling time;

[0058] when If it is determined that the trees to be treated have not yet entered the pre-cut control zone, the feeding mechanism continues normal feeding or feeding according to the set strategy;

[0059] when When the trees to be treated are determined to have entered the advance cut-off control zone, a cut-off preparation signal is generated, and a cut-off safety condition assessment is performed to obtain a cut-off safety judgment value; when Furthermore, when the cutoff safety judgment value meets the preset safety conditions, a cutoff control signal is generated;

[0060] The truncation safety judgment value is expressed as follows:

[0061] ;

[0062] in, The values ​​represent the cutoff safety judgment value, B(t) represents the return state of the cutoff mechanism (1 when the mechanism is back in position, 0 when it is not), c(t) represents the cutoff pressure, q(t) represents the system pressure, c0 represents the allowable cutoff pressure threshold, and q0 represents the allowable system pressure threshold. This represents the step decision function, which takes the value 1 when x ≥ 0 and 0 when x < 0;

[0063] when When G(t) = 1, it is determined that the return state of the cutting-off mechanism, the cutting-off pressure, and the system pressure all meet the preset safety conditions; when G(t) = 1, it is determined that the return state of the cutting-off mechanism, the cutting-off pressure, and the system pressure all meet the preset safety conditions. E(t) and When G(t) = 1, a truncation control signal is generated; when G(t) = 1... E(t) and When G(t) = 0, no truncation control signal is generated; when G(t) = 0, no truncation control signal is generated. 0 and When the value is 0, the feeding mechanism is prohibited from continuing to feed or the cutting mechanism is prohibited from performing the cutting action, and a cutting safety alarm message is generated.

[0064] As an optional technical solution of the present invention, the analysis of the safety status of the mechanism includes:

[0065] The operating data of the feeding mechanism, the debranching mechanism and the cutting mechanism include the pressure of the roller clamping cylinder, the pressure of the debranching knife, the cutting pressure, the system pressure, the displacement of the actuator, the return status of the mechanism, the control command status and the alarm status.

[0066] When the pressure of the roller clamping cylinder, the pressure of the debranching knife, the cutting pressure and the system pressure are all within the preset allowable range, the displacement of the actuator does not exceed the corresponding limit, the cutting mechanism is in the return state, and the control command state is consistent with the actual action state of the mechanism, the safety state of the mechanism is judged to be normal.

[0067] When the pressure of the roller clamping cylinder, the pressure of the debranching knife, the cutting pressure, the system pressure, or the displacement of the actuator approaches the limit, or when there is a deviation between the control command and the actual action of the mechanism, and the safety interlock is not triggered, the safety status of the mechanism is judged as a warning.

[0068] When there is insufficient roller clamping pressure, abnormally high debranching knife pressure, insufficient cutting pressure, system pressure below the preset allowable threshold, excessive displacement of the actuator, failure of the cutting mechanism to return to its original position, alarm status is triggered, or control commands are inconsistent with the actual actions of the mechanism, the safety status of the mechanism is judged to be abnormal.

[0069] As an optional technical solution of the present invention, the step of obtaining the parameter optimization scheme for the feeding, debranching and pruning processes based on the analysis results includes:

[0070] When the feeding status is normal and the mechanism safety status is normal, maintain the current feeding speed; if the feeding stability index is lower than the first stability threshold for multiple consecutive sampling periods and the feeding load does not increase, then adjust the feeding speed step size according to the preset speed to increase the feeding speed.

[0071] When the feeding status is fluctuating, reduce the feeding speed and adjust the target pressure of the roller clamping cylinder according to the pressure status of the roller clamping cylinder; if the feeding speed fluctuation is greater than the preset first fluctuation level and the roller clamping cylinder pressure is lower than the preset pressure level, increase the roller clamping cylinder pressure; if the feeding load increases and the roller speed fluctuation is greater than the preset second fluctuation level, reduce the feeding speed.

[0072] When the feeding status is abnormal or the mechanism safety status is abnormal, alarms such as reducing feeding speed, stopping feeding, roller slippage, abnormal roller motor load, or insufficient roller clamping pressure are generated.

[0073] When the debranching status is normal, maintain the current debranching blade opening and closing amount and feeding speed; if the debranching resistance index is lower than the first resistance threshold and the debranching quality meets the preset standard, increase the feeding speed within the preset operation control parameter range.

[0074] When the resistance to branching increases, reduce the feeding speed and adjust the opening and closing amount of the branching knife according to the preset opening and closing adjustment step; if the diameter of the wood increases or the number of branches per unit length increases, increase the opening and closing amount of the branching knife and increase the roller clamping pressure compensation.

[0075] When the debranching status is abnormal, the debranching blade will be opened briefly, the feeding speed will be reduced, or the feeding will be paused; if the debranching blade pressure increases or the debranching blade displacement exceeds the limit, a maintenance prompt for the debranching mechanism will be generated.

[0076] When the remaining distance is greater than the cut-off advance distance, maintain the current feeding speed; when the difference between the remaining distance and the cut-off advance distance is less than the preset difference threshold, update the cut-off advance distance according to the current axial feeding speed and the response time of the cut-off mechanism, and generate a cut-off preparation signal.

[0077] When the remaining distance is not greater than the cut-off advance distance and the cut-off safety judgment is passed, a cut-off control signal is generated; when the cut-off safety judgment is not passed, no cut-off control signal is generated, and deceleration feeding, stop feeding, cut-off prohibition or safety alarm information is generated; when there is insufficient cut-off pressure, insufficient system pressure, failure of the cut-off mechanism to return to its original position or sluggish action of the cut-off execution component, a cut-off mechanism maintenance prompt is generated.

[0078] A parameter optimization scheme is generated based on preset weights for feeding stability, debranching resistance, and cutting timing; the parameter optimization scheme includes at least one of the following: feeding speed adjustment, roller clamping cylinder pressure adjustment, debranching knife opening and closing amount adjustment, cutting advance distance adjustment, and stop advance distance adjustment.

[0079] Compared with the prior art, the beneficial effects of the present invention are:

[0080] The digital twin system provided by this invention, which is designed for the feeding, pruning, and trimming processes of logging equipment, can achieve dynamic mapping, simulation analysis, and optimization feedback between physical entities and virtual systems by constructing a virtual model corresponding to the physical object and using real-time data to drive the operation of the virtual model. By constructing a digital twin system around the continuous operation process of feeding, pruning, and trimming of logging equipment, it can realize the visualization of the operation process, status evaluation, parameter optimization, and anomaly early warning. Attached Figure Description

[0081] Figure 1 This is a schematic diagram of the digital twin system in an embodiment of the present invention;

[0082] Figure 2This is a schematic diagram of the feeding, branch removal, and cutting process of the harvesting device in an embodiment of the present invention;

[0083] Figure 3 This is a flowchart of the digital twin method in an embodiment of the present invention.

[0084] The diagram is labeled as follows: 1-feeding mechanism, 2-removal mechanism, 3-cutting mechanism. Detailed Implementation

[0085] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0086] Example 1

[0087] This embodiment provides a digital twin system for the feeding, pruning, and trimming processes of harvesting equipment. For example... Figure 1 As shown, the digital twin system includes a physical entity perception layer, a twin data layer, a virtual model layer, a connection and interaction layer, and a service application layer. This embodiment uses the harvesting device in a combined harvester as an example. This harvesting device is used for continuous operations such as clamping, feeding, debranching, and length-cutting of the trees to be treated. Figure 2 As shown, the harvesting device includes a feeding mechanism 1, a debranching mechanism 2, and a cutting mechanism 3. The feeding mechanism includes a roller motor, a roller clamping cylinder, and a feeding execution component; the debranching mechanism includes a fixed blade, a movable blade, a front blade cylinder, and a rear blade cylinder; the cutting mechanism includes a chainsaw motor, a chainsaw cylinder, and a cutting execution component. The feeding mechanism clamps the trees to be treated using rollers and drives them to feed axially; the debranching mechanism contacts and cuts off branches during the feeding process using the fixed and movable blades; the cutting mechanism performs the cutting action when the trees reach the target cutting length.

[0088] The physical entity perception layer is used to collect parameter data of the feeding mechanism, branch removal mechanism, cutting mechanism, and work object in the harvesting device.

[0089] Furthermore, the physical entity perception layer includes physical entity objects, which include a feeding mechanism, a debranching mechanism, a cutting mechanism, and a work object. The parameter data of the feeding mechanism includes roller diameter, roller spacing, roller clamping cylinder stroke, and the clamping and feeding relationship between the feeding mechanism and the wood. The parameter data of the debranching mechanism includes the debranching knife installation position, debranching knife opening and closing range, front knife cylinder stroke, rear knife cylinder stroke, and the cutting contact relationship between the debranching mechanism and the branches. The parameter data of the cutting mechanism includes the chainsaw installation position, chainsaw cylinder stroke, and the fixed-length cutting relationship between the cutting mechanism and the wood. The parameter data of the work object includes wood diameter, trunk curvature, number of branches, branch diameter, and branch distribution position.

[0090] The twin data layer is used to collect the operating data of the feeding mechanism, debranching mechanism and pruning mechanism in the harvesting device, and to perform time synchronization, filtering and operation stage matching on the operating data to obtain a continuous operation dataset.

[0091] Furthermore, the twin data layer collects the operating data of the feeding mechanism, the debranching mechanism and the cutting mechanism in the harvesting device through a first sensor group set on the feeding mechanism, a second sensor group set on the debranching mechanism and a third sensor group set on the cutting mechanism.

[0092] Furthermore, the first sensor group includes a roller rotation speed sensor, a feeding speed sensor, a roller clamping cylinder pressure sensor, and a feeding load sensor, used to collect roller rotation speed, feeding speed, roller clamping cylinder pressure, and feeding load; the second sensor group includes a debranching blade pressure sensor and a debranching blade displacement sensor, used to collect debranching blade opening and closing status, debranching blade pressure, and debranching blade displacement; the third sensor group includes a cutting-off actuator displacement sensor and a cutting-off pressure sensor, used to collect cutting-off actuator displacement and cutting-off pressure.

[0093] Furthermore, the twin data is collected by configuring I / O acquisition modules, communication modules and data interfaces in the control system of the logging device to collect target cut length, cumulative feeding stroke, operation stage identifier, control command status and alarm status.

[0094] Furthermore, data obtained from different sensors and acquisition interfaces are synchronized according to a unified time base; outliers are removed from data that significantly exceed physical constraints; pressure, velocity, displacement, and load data are filtered; and the operational data of each mechanism are fused with the work phase identifier to generate a continuous operation dataset. This continuous operation dataset is used to drive the virtual model layer and the physical logging device to operate synchronously.

[0095] The virtual model layer is used to construct a virtual harvesting device model based on the continuous operation dataset and parameter data of the feeding mechanism, debranching mechanism, cutting mechanism and operation object.

[0096] Furthermore, based on the continuous operation dataset, a geometric model, a motion model, a state model, an operation process behavior model, and an interaction model are established to obtain a virtual logging device model.

[0097] The connection interaction layer is used to synchronize and update the logging device and the virtual logging device model.

[0098] Furthermore, the connection and interaction layer includes a data synchronization mechanism and a state mapping mechanism. The data synchronization mechanism is used to synchronize data between the physical entity perception layer, the twin data layer, and the virtual model layer; the state mapping mechanism is used to map the operating states of the feeding mechanism, the branching mechanism, and the pruning mechanism to the virtual harvesting device model, so that the virtual harvesting device model keeps synchronized with the physical harvesting device.

[0099] The service application layer is used to analyze feeding stability, branch removal resistance, cutting timing and mechanism safety status based on the synchronously updated virtual harvesting device model, and obtain parameter optimization schemes for the feeding, branch removal and cutting processes based on the analysis results.

[0100] Furthermore, the service application layer includes a 3D visualization module, a work cycle analysis module, a work status evaluation module, and a parameter optimization module. The 3D visualization module is used to display the operation process of the harvesting device; the work cycle analysis module is used to analyze the time consumption of each stage of feeding, pruning, and cutting; the work status evaluation module is used to analyze feeding stability, pruning resistance, and cutting timing; and the parameter optimization module is used to generate parameter optimization schemes.

[0101] Furthermore, the service application layer converts the parameter optimization scheme into control commands, operation prompts, alarm messages, or maintenance prompts, and feeds them back to the logging device control system. After receiving the feedback information, the logging device control system adjusts the feeding speed, roller clamping pressure, branch removal cutter opening and closing amount, and cutting advance distance or stop advance distance, thereby forming a closed-loop optimization control in the continuous operation process of the logging device.

[0102] Example 2

[0103] This embodiment provides a digital twin method for the feeding, pruning, and trimming processes of harvesting equipment, including:

[0104] Step 1: Collect parameter data of the feeding mechanism, branch removal mechanism, cutting mechanism and the work object in the harvesting device.

[0105] Step 2: Collect the operating data of the feeding mechanism, debranching mechanism and cutting mechanism in the harvesting device, and perform time synchronization, filtering and operation stage matching on the operating data to obtain a continuous operation dataset.

[0106] Step 3: Based on the continuous operation dataset and the parameter data of the feeding mechanism, debranching mechanism, cutting mechanism and operation object, construct a virtual harvesting device model.

[0107] The virtual logging device model includes a geometric model, a motion model, a state model, a work process behavior model, and an interaction model.

[0108] The geometric model is constructed based on the parameter data of the feeding mechanism, the debranching mechanism, the cutting mechanism, and the work object. The geometric model is used to describe the relative positions and range of motion of the feeding mechanism, the debranching mechanism, and the cutting mechanism in space.

[0109] A motion model is constructed based on the operating data of the feeding mechanism, debranching mechanism, and cutting mechanism. This motion model is used to characterize the action changes of the feeding mechanism, debranching mechanism, and cutting mechanism during continuous operation. Specifically, the theoretical feeding speed of the trees to be treated is calculated based on the rotational speed of the roller motor and the equivalent diameter of the roller, and the axial feeding process of the wood is described in combination with the cumulative feeding stroke; the opening and closing process of the debranching blade is described based on the displacement of the front and rear blade cylinders; the cutting action process is described based on the displacement of the cutting execution component and the working state of the chainsaw motor; and the lag between the control signal and the actual action of the mechanism is compensated based on the mechanism response time.

[0110] A state model is constructed based on the operating data of the feeding mechanism, the branching mechanism, and the cutting mechanism. The state model is used to characterize the operating state of the logging device during continuous operation. The operating state includes normal, fluctuating, abnormal, and safety interlock.

[0111] A work process behavior model is constructed based on the stages of clamping, feeding, debranching, deceleration and positioning, cutting preparation, cutting, return to position and preparation for the next feeding. The work process behavior model is used to describe the continuous operation process of the logging device from clamping the wood to completing a fixed-length cut and preparing for the next feeding.

[0112] An interactive model is constructed based on the clamping and feeding relationship between the roller and the wood to be treated, the cutting contact relationship between the debranching knife and the branch, the cutting contact relationship between the cutting mechanism and the wood, and the influence of wood diameter, trunk curvature, number of branches, branch diameter, and branch distribution position on the load of the mechanism, debranching resistance, and cutting timing. The interactive model is used to describe the clamping and feeding relationship between the roller and the wood, the cutting contact relationship between the debranching knife and the branch, and the cutting contact relationship between the cutting mechanism and the wood.

[0113] Step 4: Synchronize and update the logging device and virtual logging device models.

[0114] The virtual logging device model synchronously displays the mechanism's actions and operating status during the feeding, pruning, and cutting processes based on a continuous operation status dataset, and updates synchronously with the physical logging device.

[0115] Step 5: Based on the synchronously updated virtual harvesting device model, analyze the feeding stability, branch removal resistance, cutting timing and mechanism safety status, and obtain parameter optimization schemes for the feeding, branch removal and cutting processes based on the analysis results.

[0116] The analysis included feeding stability, branch removal resistance, pruning timing, and mechanism safety status, including:

[0117] (1) Calculate the feeding stability index, expressed as:

[0118] ;

[0119] ;

[0120] ;

[0121] ;

[0122] ;

[0123] Among them, I f This indicates the feed stability index. Indicates the change in feeding speed. This indicates the change in roller speed. This indicates the change in pressure of the roller clamping cylinder. This indicates the change in feed load. This indicates the baseline value for feeding speed. This indicates the reference value for the roller speed. This indicates the reference value of the roller clamping cylinder pressure. This indicates the baseline value for feed load. This represents a correction factor to prevent the denominator from being zero. , , , All represent weighting coefficients, a1+a2+a3+a4=1, Indicates the current sampling time. Indicates the sampling period, v f (t) represents the feeding rate at the current sampling time, n r (t) represents the roller speed at the current sampling time, P c (t) represents the roller clamping cylinder pressure at the current sampling moment, L f (t) represents the feed load at the current sampling time.

[0124] When the feeding stability index is less than the preset first stability threshold, the feeding status is determined to be normal; when the feeding stability index is not less than the first stability threshold and is less than the preset second stability threshold, the feeding status is determined to be fluctuating, and an operation prompt to reduce the feeding speed or adjust the pressure of the roller clamping cylinder is generated; when the feeding stability index is not less than the second stability threshold, the feeding status is determined to be abnormal, and an alarm for roller slippage, abnormal roller motor load, or insufficient roller clamping pressure is generated.

[0125] (2) Calculate the branching resistance index, expressed as:

[0126] ;

[0127] ;

[0128] ;

[0129] ;

[0130] in, Indicates the resistance index for branch removal. This indicates the change in pressure applied by the debranching knife. This indicates the change in displacement of the debranching knife. Indicates the diameter of the wood. Indicates the number of branches per unit length. The reference value indicating the pressure of the debranching knife. The reference value representing the displacement of the debranching tool. A reference value indicating the diameter of timber. A baseline value representing the number of branches per unit length. This indicates the pruning knife pressure at the current sampling moment. This represents the displacement of the pruning cutter at the current sampling time. This indicates the number of branches within the statistical interval. Indicates the length of the statistical interval. , , , , , All represent weighting coefficients, b1+b2+b3+b4+b5+b6=1.

[0131] When the debranching resistance index is less than the preset first resistance threshold, the debranching state is determined to be normal; when the debranching resistance index is not less than the first resistance threshold and is less than the preset second resistance threshold, the debranching resistance is determined to be increased, and an operation prompt to reduce the feeding speed or adjust the opening and closing amount of the debranching blade is generated; when the debranching resistance index is not less than the second resistance threshold, the debranching state is determined to be abnormal, and control suggestions to open the debranching blade, increase the roller clamping pressure, or output a maintenance prompt for the debranching mechanism are generated.

[0132] (3) Calculate the cutoff advance distance, expressed as:

[0133] ;

[0134] in, Indicates the cutoff advance distance at the current sampling time. Indicates the current axial feed rate. This indicates the response time required for the truncation mechanism to reach an effective truncation state from receiving the truncation control signal. This indicates the distance for mechanical motion compensation.

[0135] The remaining distance from the target cutoff position is calculated and expressed as:

[0136] ;

[0137] in, This indicates the remaining distance from the target cutoff position at the current sampling time. Indicates the target truncation length. This indicates the cumulative feeding distance at the current sampling time.

[0138] when If it is determined that the trees to be treated have not yet entered the pre-cut control zone, the feeding mechanism continues normal feeding or feeding according to the set strategy;

[0139] when When the trees to be treated are determined to have entered the advance cut-off control zone, a cut-off preparation signal is generated, and a cut-off safety condition assessment is performed to obtain a cut-off safety judgment value; when Furthermore, when the cutoff safety judgment value meets the preset safety conditions, a cutoff control signal is generated.

[0140] The truncation safety judgment value is expressed as follows:

[0141] ;

[0142] in, The values ​​represent the cutoff safety judgment value, B(t) represents the return state of the cutoff mechanism (1 when the mechanism is back in position, 0 when it is not), c(t) represents the cutoff pressure, q(t) represents the system pressure, c0 represents the allowable cutoff pressure threshold, and q0 represents the allowable system pressure threshold. This represents the step decision function, which takes the value 1 when x ≥ 0 and 0 when x < 0.

[0143] when When G(t) = 1, it is determined that the return state of the cutting-off mechanism, the cutting-off pressure, and the system pressure all meet the preset safety conditions; when G(t) = 1, it is determined that the return state of the cutting-off mechanism, the cutting-off pressure, and the system pressure all meet the preset safety conditions. E(t) and When G(t) = 1, a truncation control signal is generated; when G(t) = 1... E(t) and When G(t) = 0, no truncation control signal is generated; when G(t) = 0, no truncation control signal is generated. 0 and When the value is 0, the feeding mechanism is prohibited from continuing to feed or the cutting mechanism is prohibited from performing the cutting action, and a cutting safety alarm message is generated.

[0144] (4) The operating data of the feeding mechanism, the debranching mechanism and the cutting mechanism include the pressure of the roller clamping cylinder, the pressure of the debranching knife, the cutting pressure, the system pressure, the displacement of the actuator, the return status of the mechanism, the control command status and the alarm status.

[0145] When the pressure of the roller clamping cylinder, the pressure of the debranching knife, the cutting pressure, and the system pressure are all within the preset allowable range, the displacement of the actuator does not exceed the corresponding limit, the cutting mechanism is in the return state, and the control command state is consistent with the actual action state of the mechanism, the safety state of the mechanism is judged to be normal.

[0146] When the pressure of the roller clamping cylinder, the pressure of the debranching knife, the cutting pressure, the system pressure, or the displacement of the actuator approaches the limit, or when there is a deviation between the control command and the actual action of the mechanism, and the safety interlock is not triggered, the mechanism is judged to be in a safe state as an early warning, and prompts are output to reduce the feeding speed, check the cylinder pressure, check the return status of the mechanism, or adjust the control parameters.

[0147] When there is insufficient roller clamping pressure, abnormally high debranching knife pressure, insufficient cutting pressure, system pressure below the preset allowable threshold, excessive displacement of the actuator, failure of the cutting mechanism to return to its original position, alarm status being triggered, or inconsistency between control commands and actual mechanism actions, the mechanism's safety status is judged to be abnormal, and outputs prompts to prohibit continued feeding, prohibit cutting, and stop for inspection or maintenance.

[0148] The parameter optimization scheme includes:

[0149] (1) When the feeding status is normal and the mechanism safety status is normal, maintain the current feeding speed; if the feeding stability index is lower than the first stability threshold for multiple consecutive sampling periods and the feeding load does not increase, adjust the step size according to the preset speed to increase the feeding speed.

[0150] When the feeding status is fluctuating, reduce the feeding speed and adjust the target pressure of the roller clamping cylinder according to the pressure status of the roller clamping cylinder; if the feeding speed fluctuation is greater than the preset first fluctuation level and the roller clamping cylinder pressure is lower than the preset pressure level, increase the roller clamping cylinder pressure; if the feeding load increases and the roller speed fluctuation is greater than the preset second fluctuation level, reduce the feeding speed.

[0151] When the feeding status is abnormal or the mechanism safety status is abnormal, alarms such as reducing feeding speed, stopping feeding, roller slippage, abnormal roller motor load, or insufficient roller clamping pressure are generated.

[0152] (2) When the debranching state is normal, maintain the current debranching knife opening and closing amount and feeding speed; if the debranching resistance index is lower than the first resistance threshold and the debranching quality reaches the preset standard, increase the feeding speed within the preset operation control parameter range.

[0153] When the resistance to branching increases, reduce the feeding speed and adjust the opening and closing amount of the branching knife according to the preset opening and closing adjustment step length; if the diameter of the wood increases or the number of branches per unit length increases, increase the opening and closing amount of the branching knife and increase the roller clamping pressure compensation.

[0154] When the debranching status is abnormal, the debranching blade will be opened briefly, the feeding speed will be reduced, or the feeding will be paused. If the debranching blade pressure increases or the debranching blade displacement exceeds the limit, a maintenance prompt for the debranching mechanism will be generated.

[0155] (3) When the remaining distance is greater than the cut-off advance distance, maintain the current feeding speed; when the difference between the remaining distance and the cut-off advance distance is less than the preset difference threshold, update the cut-off advance distance according to the current axial feeding speed and the response time of the cut-off mechanism, and generate a cut-off preparation signal.

[0156] When the remaining distance is not greater than the cut-off advance distance and the cut-off safety judgment is passed, a cut-off control signal is generated; when the cut-off safety judgment is not passed, no cut-off control signal is generated, and deceleration feeding, stop feeding, cut-off prohibition or safety alarm information is generated; when there is insufficient cut-off pressure, insufficient system pressure, failure of the cut-off mechanism to return to its original position or sluggish action of the cut-off execution component, a cut-off mechanism maintenance prompt is generated.

[0157] (4) Generate a parameter optimization scheme according to the preset weights of feeding stability, debranching resistance and cutting timing; the parameter optimization scheme includes at least one of the following: feeding speed adjustment amount, roller clamping cylinder pressure adjustment amount, debranching knife opening and closing amount adjustment amount, cutting advance distance adjustment amount and stop advance distance adjustment amount.

[0158] In summary, this embodiment enables real-time mapping and synchronous updates between the physical and virtual harvesting device models during the continuous feeding, debranching, and trimming operations of the harvesting device. It also optimizes and feeds back the feeding, debranching, and trimming parameters based on the operational status evaluation results, thereby improving the stability, safety, and intelligent control level of the continuous operation process of the harvesting device.

[0159] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0160] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0161] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A digital twin system for the feeding, pruning, and trimming processes of a harvesting apparatus, characterized in that, include: The physical entity perception layer is used to collect parameter data of the feeding mechanism, branch removal mechanism, cutting mechanism and the work object in the harvesting device; The twin data layer is used to collect the operating data of the feeding mechanism, debranching mechanism and cutting mechanism in the harvesting device, and to perform time synchronization, filtering and operation stage matching on the operating data to obtain a continuous operation dataset. The virtual model layer is used to construct a virtual harvesting device model based on the continuous operation dataset and parameter data of the feeding mechanism, debranching mechanism, cutting mechanism and operation object; The connection interaction layer is used to synchronize and update the logging device and the virtual logging device model. The service application layer is used to analyze feeding stability, branch removal resistance, cutting timing and mechanism safety status based on the synchronously updated virtual harvesting device model, and obtain parameter optimization schemes for the feeding, branch removal and cutting processes based on the analysis results.

2. The digital twin system for feeding, pruning, and cutting processes of a harvesting device according to claim 1, characterized in that: The physical entity perception layer includes physical entity objects, which include feeding mechanisms, debranching mechanisms, cutting mechanisms, and work objects. The parameters of the feeding mechanism include roller diameter, roller spacing, and roller clamping cylinder stroke; The parameter data of the debranching mechanism includes the installation position of the debranching knife, the opening and closing range of the debranching knife, the stroke of the front knife cylinder, and the stroke of the rear knife cylinder; The parameter data of the cutting mechanism includes the chainsaw installation position and the chainsaw cylinder stroke; The parameter data of the work object includes the diameter of the wood, the curvature of the trunk, the number of branches, the diameter of the branches, and the distribution location of the branches.

3. The digital twin system for feeding, pruning, and cutting processes of a harvesting device according to claim 1, characterized in that: The twin data layer collects the operating data of the feeding mechanism, the debranching mechanism and the cutting mechanism in the harvesting device through a first sensor group set on the feeding mechanism, a second sensor group set on the debranching mechanism and a third sensor group set on the cutting mechanism; The first sensor group includes a roller rotation speed sensor, a feeding speed sensor, a roller clamping cylinder pressure sensor, and a feeding load sensor; The second sensor group includes a pruning knife pressure sensor and a pruning knife displacement sensor; The third sensor group includes a displacement sensor for the cut-off actuator and a pressure sensor for the cut-off actuator.

4. The digital twin system for feeding, pruning, and cutting processes of a harvesting device according to claim 1, characterized in that: The connection and interaction layer includes a data synchronization mechanism and a state mapping mechanism; The data synchronization mechanism is used to synchronize data between the physical entity perception layer, the twin data layer, and the virtual model layer. The state mapping mechanism is used to map the operating states of the feeding mechanism, the branching mechanism, and the cutting mechanism to the virtual harvesting device model.

5. The digital twin system for feeding, pruning, and cutting processes of a harvesting device according to claim 1, characterized in that: The service application layer includes a 3D visualization module, a work cycle analysis module, a work status evaluation module, and a parameter optimization module; The 3D visualization module is used to display the operation process of the logging equipment; The work cycle analysis module is used to analyze the time consumption of each stage, including feeding, pruning, and trimming. The operation status evaluation module is used to analyze feeding stability, branch removal resistance, and cutting timing; the parameter optimization module is used to generate parameter optimization schemes.

6. A digital twin method for the feeding, pruning, and trimming processes of a harvesting device, characterized in that, include: Collect parameter data of the feeding mechanism, branch removal mechanism, cutting mechanism, and the work object in the logging equipment; The operation data of the feeding mechanism, debranching mechanism and cutting mechanism in the harvesting device are collected, and the operation data is synchronized in time, filtered and matched with the operation stage to obtain a continuous operation dataset. A virtual harvesting device model is constructed based on the continuous operation dataset and parameter data of the feeding mechanism, debranching mechanism, cutting mechanism and operation object. The logging equipment and the virtual logging equipment model are updated synchronously. Based on the synchronously updated virtual harvesting device model, the feeding stability, branch removal resistance, cutting timing, and mechanism safety status are analyzed. Based on the analysis results, parameter optimization schemes for the feeding, branch removal, and cutting processes are obtained.

7. The digital twin method for feeding, pruning, and cutting processes of a harvesting device according to claim 6, characterized in that: The virtual logging device model includes a geometric model, a motion model, a state model, a work process behavior model, and an interaction model; The geometric model is constructed based on the parameter data of the feeding mechanism, the debranching mechanism, the cutting mechanism, and the work object. The geometric model is used to describe the relative positions and range of motion of the feeding mechanism, the debranching mechanism, and the cutting mechanism in space. A motion model is constructed based on the operating data of the feeding mechanism, the debranching mechanism, and the cutting mechanism. The motion model is used to characterize the motion change relationship of the feeding mechanism, the debranching mechanism, and the cutting mechanism during continuous operation. A state model is constructed based on the operating data of the feeding mechanism, the debranching mechanism, and the cutting mechanism. The state model is used to characterize the operating state of the logging device during continuous operation. The operating state includes normal, fluctuating, abnormal, and safety interlock. The operational process behavior model is used to describe the continuous operation process of the logging device from clamping the timber to completing a cut to length and preparing for the next feeding. The interactive model is used to describe the clamping and feeding relationship between the roller and the wood, the cutting contact relationship between the debranching knife and the branch, and the cutting contact relationship between the cutting mechanism and the wood.

8. The digital twin method for feeding, pruning, and cutting processes of a harvesting device according to claim 7, characterized in that, The analysis of feeding stability, pruning resistance, and pruning timing includes: The feed stability index is calculated and expressed as: ； ； ； ； ； Among them, I f This indicates the feed stability index. Indicates the change in feeding speed. This indicates the change in roller speed. This indicates the change in pressure of the roller clamping cylinder. This indicates the change in feed load. This indicates the baseline value for feeding speed. This indicates the reference value for the roller speed. This indicates the reference value of the roller clamping cylinder pressure. This indicates the baseline value for feed load. This represents the correction factor. , , , All represent weighting coefficients. Indicates the current sampling time. Indicates the sampling period, v f (t) represents the feeding rate at the current sampling time, n r (t) represents the roller speed at the current sampling time, P c (t) represents the roller clamping cylinder pressure at the current sampling moment, L f (t) represents the feed load at the current sampling time; When the feeding stability index is less than the preset first stability threshold, the feeding status is determined to be normal; when the feeding stability index is not less than the first stability threshold and is less than the preset second stability threshold, the feeding status is determined to be fluctuating; when the feeding stability index is not less than the second stability threshold, the feeding status is determined to be abnormal. The debranching resistance index is calculated as follows: ； ； ； ； in, Indicates the resistance index for branch removal. This indicates the change in pressure applied by the debranching knife. This indicates the change in displacement of the debranching knife. Indicates the diameter of the wood. Indicates the number of branches per unit length. The reference value indicating the pressure of the debranching knife. The reference value representing the displacement of the debranching tool. A reference value indicating the diameter of timber. A baseline value representing the number of branches per unit length. This indicates the pressure of the pruning shear at the current sampling moment. This represents the displacement of the pruning cutter at the current sampling time. This indicates the number of branches within the statistical interval. Indicates the length of the statistical interval. , , , , , All represent weighting coefficients, b1+b2+b3+b4+b5+b6=1; When the pruning resistance index is less than the preset first resistance threshold, the pruning state is determined to be normal; when the pruning resistance index is not less than the first resistance threshold and is less than the preset second resistance threshold, the pruning resistance is determined to be increased; when the pruning resistance index is not less than the second resistance threshold, the pruning state is determined to be abnormal. The cutoff advance distance is calculated and expressed as: ； in, Indicates the cutoff advance distance at the current sampling time. Indicates the current axial feed rate. This indicates the response time required for the truncation mechanism to reach an effective truncation state from receiving the truncation control signal. Indicates the distance for mechanical motion compensation; The remaining distance from the target cutoff position is calculated and expressed as: ； in, This indicates the remaining distance from the target cutoff position at the current sampling time. Indicates the target truncation length. This indicates the cumulative feeding distance at the current sampling time; when If it is determined that the trees to be treated have not yet entered the pre-cut control zone, the feeding mechanism continues normal feeding or feeding according to the set strategy; when When the trees to be treated are determined to have entered the advance cut-off control zone, a cut-off preparation signal is generated, and a cut-off safety condition assessment is performed to obtain a cut-off safety judgment value; when Furthermore, when the cutoff safety judgment value meets the preset safety conditions, a cutoff control signal is generated; The truncation safety judgment value is expressed as follows: ； in, The values ​​represent the cutoff safety judgment value, B(t) represents the return state of the cutoff mechanism (1 when the mechanism is back in position, 0 when it is not), c(t) represents the cutoff pressure, q(t) represents the system pressure, c0 represents the allowable cutoff pressure threshold, and q0 represents the allowable system pressure threshold. This represents the step decision function, which takes the value 1 when x ≥ 0 and 0 when x < 0; when When G(t) = 1, it is determined that the return state of the cutting-off mechanism, the cutting-off pressure, and the system pressure all meet the preset safety conditions; when G(t) = 1, it is determined that the return state of the cutting-off mechanism, the cutting-off pressure, and the system pressure all meet the preset safety conditions. E(t) and When G(t) = 1, a truncation control signal is generated; when G(t) = 1... E(t) and When G(t) = 0, no truncation control signal is generated; when G(t) = 0, no truncation control signal is generated. 0 and When the value is 0, the feeding mechanism is prohibited from continuing to feed or the cutting mechanism is prohibited from performing the cutting action, and a cutting safety alarm message is generated.

9. The digital twin method for feeding, pruning, and cutting processes of a harvesting device according to claim 8, characterized in that, The analysis of the safety status of the mechanism includes: The operating data of the feeding mechanism, the debranching mechanism and the cutting mechanism include the pressure of the roller clamping cylinder, the pressure of the debranching knife, the cutting pressure, the system pressure, the displacement of the actuator, the return status of the mechanism, the control command status and the alarm status. When the pressure of the roller clamping cylinder, the pressure of the debranching knife, the cutting pressure and the system pressure are all within the preset allowable range, the displacement of the actuator does not exceed the corresponding limit, the cutting mechanism is in the return state, and the control command state is consistent with the actual action state of the mechanism, the safety state of the mechanism is judged to be normal. When the pressure of the roller clamping cylinder, the pressure of the debranching knife, the cutting pressure, the system pressure, or the displacement of the actuator approaches the limit, or when there is a deviation between the control command and the actual action of the mechanism, and the safety interlock is not triggered, the safety status of the mechanism is judged as a warning. When there is insufficient roller clamping pressure, abnormally high debranching knife pressure, insufficient cutting pressure, system pressure below the preset allowable threshold, excessive displacement of the actuator, failure of the cutting mechanism to return to its original position, alarm status is triggered, or control commands are inconsistent with the actual actions of the mechanism, the safety status of the mechanism is judged to be abnormal.

10. The digital twin method for feeding, pruning, and cutting processes of a harvesting device according to claim 9, characterized in that, The parameter optimization schemes for the feeding, pruning, and trimming processes obtained based on the analysis results include: When the feeding status is normal and the mechanism safety status is normal, maintain the current feeding speed; if the feeding stability index is lower than the first stability threshold for multiple consecutive sampling periods and the feeding load does not increase, then adjust the feeding speed step size according to the preset speed to increase the feeding speed. When the feeding status is fluctuating, reduce the feeding speed and adjust the target pressure of the roller clamping cylinder according to the pressure status of the roller clamping cylinder; if the feeding speed fluctuation is greater than the preset first fluctuation level and the roller clamping cylinder pressure is lower than the preset pressure level, increase the roller clamping cylinder pressure; if the feeding load increases and the roller speed fluctuation is greater than the preset second fluctuation level, reduce the feeding speed. When the feeding status is abnormal or the mechanism safety status is abnormal, alarms such as reducing feeding speed, stopping feeding, roller slippage, abnormal roller motor load, or insufficient roller clamping pressure are generated. When the debranching status is normal, maintain the current debranching blade opening and closing amount and feeding speed; if the debranching resistance index is lower than the first resistance threshold and the debranching quality meets the preset standard, increase the feeding speed within the preset operation control parameter range. When the resistance to branching increases, reduce the feeding speed and adjust the opening and closing amount of the branching knife according to the preset opening and closing adjustment step; if the diameter of the wood increases or the number of branches per unit length increases, increase the opening and closing amount of the branching knife and increase the roller clamping pressure compensation. When the debranching status is abnormal, the debranching blade will be opened briefly, the feeding speed will be reduced, or the feeding will be paused; if the debranching blade pressure increases or the debranching blade displacement exceeds the limit, a maintenance prompt for the debranching mechanism will be generated. When the remaining distance is greater than the cut-off advance distance, maintain the current feeding speed; when the difference between the remaining distance and the cut-off advance distance is less than the preset difference threshold, update the cut-off advance distance according to the current axial feeding speed and the response time of the cut-off mechanism, and generate a cut-off preparation signal. When the remaining distance is not greater than the cut-off advance distance and the cut-off safety judgment is passed, a cut-off control signal is generated; when the cut-off safety judgment is not passed, no cut-off control signal is generated, and deceleration feeding, stop feeding, cut-off prohibition or safety alarm information is generated; when there is insufficient cut-off pressure, insufficient system pressure, failure of the cut-off mechanism to return to its original position or sluggish action of the cut-off execution component, a cut-off mechanism maintenance prompt is generated. A parameter optimization scheme is generated based on preset weights for feeding stability, debranching resistance, and cutting timing; the parameter optimization scheme includes at least one of the following: feeding speed adjustment, roller clamping cylinder pressure adjustment, debranching knife opening and closing amount adjustment, cutting advance distance adjustment, and stop advance distance adjustment.

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